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   <div id="projectname">OpenLoong Dynamics Control
   &#160;<span id="projectnumber">v0.1.0</span>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="classPVT__Ctr-members.html">List of all members</a>  </div>
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<div class="title">PVT_Ctr Class Reference</div>  </div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a471dd413e1e95bbe91e218e1ea611a6f"><td class="memItemLeft" align="right" valign="top"><a id="a471dd413e1e95bbe91e218e1ea611a6f"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>PVT_Ctr</b> (double timeStepIn, const char *jsonPath)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>calMotorsPVT</b> ()</td></tr>
<tr class="separator:a59c9680162b5ef4bd67553b4eadcd5de"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abf75859d36e4319b658748e35c40c2c0"><td class="memItemLeft" align="right" valign="top"><a id="abf75859d36e4319b658748e35c40c2c0"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>calMotorsPVT</b> (double deltaP_Lim)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>enablePV</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>disablePV</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>enablePV</b> (int jtId)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>disablePV</b> (int jtId)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setJointPD</b> (double kp, double kd, const char *jointName)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>dataBusRead</b> (<a class="el" href="structDataBus.html">DataBus</a> &amp;busIn)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>dataBusWrite</b> (<a class="el" href="structDataBus.html">DataBus</a> &amp;busIn)</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>jointNum</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>motor_pos_cur</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>motor_pos_des_old</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>motor_vel</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>motor_tor_out</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>motor_pos_des</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>motor_vel_des</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>motor_tor_des</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>pvt_Kp</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>pvt_Kd</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>maxTor</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>maxVel</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>maxPos</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>minPos</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock">
<p class="definition">Definition at line <a class="el" href="PVT__ctrl_8h_source.html#l00018">18</a> of file <a class="el" href="PVT__ctrl_8h_source.html">PVT_ctrl.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="PVT__ctrl_8h_source.html">PVT_ctrl.h</a></li>
<li><a class="el" href="PVT__ctrl_8cpp_source.html">PVT_ctrl.cpp</a></li>
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